Motion assistance apparatus and method of controlling the same

ABSTRACT

A motion assistance apparatus may include a first fixing member to be fixed to a portion of a user, a second fixing member to be fixed to another portion of the user, a driving source provided in the first fixing member, a power transmitting member connected between the driving source and the second fixing member, a sensing portion to sense a fixing state of the first fixing member or the second fixing member, and a controller to control the driving source based on information received from the sensing portion.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims the priority benefit of Korean PatentApplication No. 10-2014-0093831, filed on Jul. 24, 2014, in the KoreanIntellectual Property Office, the entire disclosure of which isincorporated herein by reference.

BACKGROUND

1. Field

Example embodiments relate to a motion assistance apparatus and a methodof controlling the same.

2. Description of the Related Art

With the onset of rapidly aging societies, an increased number of peoplemay experience inconvenience and/or agony from joint problems, and,therefore, interest in motion assistance apparatuses that may enable theelderly or patients with joint problems to walk with less effort isgrowing. In addition, motion assistance apparatuses that may increasemuscular strength of human bodies may be in development for militarypurposes.

In general, motion assistance apparatuses for assisting motion of lowerparts of bodies may include body frames disposed on trunks of users,pelvic frames coupled to lower sides of the body frames to coverpelvises of the users, femoral frames disposed on thighs of the users,sural frames disposed on calves of the users, and/or pedial framesdisposed on feet of the users. The pelvic frames and femoral frames maybe connected rotatably by hip joint portions, the femoral frames andsural frames may be connected rotatably by knee joint portions, and/orthe sural frames and pedial frames may be connected rotatably by anklejoint portions.

The motion assistance apparatuses may include active joint structuresincluding hydraulic systems and/or driving motors to drive each jointportion to improve muscular strength of legs of the users. For example,a motor to transmit driving power may be provided at each of the hipjoint portions.

SUMMARY

Some example embodiments relate to a motion assistance apparatus.

In some example embodiments, the motion assistance apparatus may includea first fixing member to be fixed to a portion of a user, a secondfixing member to be fixed to another portion of the user, a drivingsource provided in the first fixing member, a power transmitting memberconnected between the driving source and the second fixing member, asensing portion configured to sense a fixing state of the first fixingmember or the second fixing member, and a controller configured tocontrol the driving source based on information received from thesensing portion.

At least one of the first fixing member and the second fixing member mayinclude a first fixing portion and a second fixing portion to befastened to or separated from each other.

The sensing portion may include a first conductor and a second conductordisposed in the first fixing portion and the second fixing portion,respectively, to be connected or shorted depending on whether the firstfixing portion is fastened to the second fixing portion, and thecontroller may control the driving source based on information about acurrent flowing between the first conductor and the second conductor.

An elastic member may be disposed on one side of one of the firstconductor and the second conductor to provide elastic force in adirection in which another of the first conductor and the secondconductor is disposed.

The first fixing portion and the second fixing portion may have facesfacing each other and provided detachably, the sensing portion mayinclude a first conductor and a second conductor disposed in the firstfixing portion and the second fixing portion, respectively, and thecontroller may control the driving source based on information about acapacitance between the first conductor and the second conductor.

The first fixing portion and the second fixing portion may be detachablyprovided in a form of a Velcro.

The sensing portion may include a switch disposed in one of the firstfixing portion and the second fixing portion to be selectively poweredon or off based on whether the first fixing portion is fastened to thesecond fixing portion.

The sensing portion may measure a fastening strength of at least one ofthe first fixing member and the second fixing member.

The sensing portion may include a pressure sensor configured to measurea pressure applied between the user and at least one of the first fixingmember and the second fixing member.

The sensing portion may include a tensile force sensor configured tomeasure a tensile force applied to at least one of the first fixingmember and the second fixing member.

The sensing portion may include a tensile force sensor disposed on thepower transmitting member.

The sensing portion may include a pressure sensor disposed between thepower transmitting member and the second fixing member.

Other example embodiments relate to a method of controlling a motionassistance apparatus.

In some example embodiments, the motion assistance apparatus may includea main fixing member to be fixed to a portion of a user, an action sidefixing member to be fixed to another portion of the user, a drivingsource provided on the main fixing member, a power transmitting memberconnected between the driving source and the action side fixing member,and a controller configured to control the driving source. Further, themethod may include performing, by the controller, a motion assistanceoperation for the user based on a fixing state of at least one of themain fixing member and the action side fixing member.

The performing may be conducted when both the main fixing member and theaction side fixing member are fixed.

The performing may include reducing power to be transmitted to theaction side fixing member when the main fixing member is unfixed.

A plurality of action side fixing members may be provided, and theperforming may include sensing respective fixing states of the pluralityof action side fixing members, and reducing power to be transmitted to aportion of the plurality of action side fixing members when the portionof the plurality of action side fixing members is unfixed.

The performing may include controlling power to be transmitted to theaction side fixing member based on a direction of a load applied to theaction side fixing member, and the controlling may include continuouslyperforming the motion assistance operation for the user when the load isapplied in a direction in which the action side fixing member is pushed,and reducing power to be transmitted to the action side fixing memberwhen the load is applied in a direction in which the action side fixingmember is pulled.

The reducing may include stopping the driving source, or reducing anoutput of the driving source to a predetermined output value.

Other example embodiments relate to a method of controlling a motionassistance apparatus.

In some example embodiments, the motion assistance apparatus may includea driving source, a main fixing member to be fixed to a portion of auser, an action side fixing member to be fixed to a leg of the user, apower transmitting member configured to transmit power between thedriving source and the action side fixing member, and a controllerconfigured to control the driving source. Further, the method mayinclude performing, by the controller, a motion assistance operation forthe user based on a fixing state of the action side fixing member.

The performing may include reducing power to be transmitted to theaction side fixing member when the action side fixing member is unfixedand both legs of the user are in contact with the ground.

The performing may include sensing whether the user is walking in anupward inclined direction or in a downward inclined direction, andtransmitting power until both legs of the user are in contact with theground when the user is walking in a downward inclined direction and theaction side fixing member is unfixed.

The performing may include sensing whether the user is walking in anupward inclined direction or in a downward inclined direction, andreducing power to be transmitted to the action side fixing member whenthe user is walking in an upward inclined direction and the action sidefixing member is unfixed.

The performing may include sensing whether a function of the action sidefixing member corresponds to a moving function or a supporting functionwhen the action side fixing member is unfixed, and reducing power to betransmitted to the unfixed action side fixing member when the functionof the unfixed action side fixing member corresponds to the movingfunction.

The performing may further include transmitting power until the functionof the unfixed action side fixing member is changed to the movingfunction when the function of the unfixed action side fixing membercorresponds to the supporting function.

Some example embodiments relate to a motion assistance apparatusconfigured to assist a user with walking.

In some example embodiments, the motion assistance apparatus may includea belt having a first end and a second end, the belt configured toattach to a waist of the user by connecting, the first end and thesecond end; a thigh cuff configured to attach to a thigh of the user; apower transmitting member configured to transmit a torque to the thighcuff; and a controller including processor and a memory, the memorycontaining computer readable code that, when executed by the processor,configures the controller to, determine if one or more of the belt andthe thigh cuff are secured to the waist and the thigh of the user,respectively, and instruct a driving source to perform a motionassistance operation based on whether the one or more of the belt andthe thigh cuff are secured, the motion assistance operation being anoperation in which a force generated by the driving source istransmitted to the joint assembly.

In some example embodiments, the motion assistance apparatus includesone or more sensors configured to sense whether one or more of the beltand the thigh cuff are secured, wherein the controller is configured todetermine if one or more of the belt and the thigh cuff become unsecuredduring the motion assistance operation based on signals received fromthe one or more sensors.

In some example embodiments, the controller is configured to reduce thepower based on a walking state, if the controller determines that one ormore of the belt and the thigh cuff have become unsecured during themotion assistance operation.

In some example embodiments, the walking state includes an inclinewalking state and a decline walking state, and the controller isconfigured to reduce the power when one or more of the belt and thethigh cuff have become unsecured during the motion assistance operationirrespective of whether feet of the user are in contact with a ground,if the walking state is the incline walking state.

In some example embodiments, the controller is configured to stoptransmitting the power when one or more of the belt and the thigh cuffhave become unsecured during the motion assistance operation and thecontroller has determined that the user has come to rest.

In some example embodiments, the controller is configured to continue toperform the motion assistance operation on a leg of the user when one ormore of the belt and the thigh cuff have become unsecured, if the motionassistance device is exerting positive work on the leg of the user.

Additional aspects of example embodiments will be set forth in part inthe description which follows and, in part, will be apparent from thedescription, or may be learned by practice of the disclosure.

BRIEF DESCRIPTION OF THE DRAWINGS

These and/or other aspects will become apparent and more readilyappreciated from the following description of example embodiments, takenin conjunction with the accompanying drawings of which:

FIG. 1 is a front view illustrating a motion assistance apparatus beingworn on a user according to some example embodiments;

FIG. 2 is a side view illustrating a motion assistance apparatus beingworn on a user according to example embodiments;

FIG. 3 is a view illustrating a sensing portion according to someexample embodiments;

FIG. 4 is a view illustrating a sensing portion according to someexample embodiments;

FIG. 5 is a view illustrating a sensing portion according to someexample embodiments;

FIG. 6 is a view illustrating a sensing portion according to someexample embodiments;

FIG. 7 is a view illustrating a sensing portion according to someexample embodiments;

FIG. 8 is a view illustrating a sensing portion according to someexample embodiments;

FIG. 9 is a block diagram illustrating a motion assistance apparatusaccording to some example embodiments;

FIG. 10 is a flowchart illustrating a method of controlling a motionassistance apparatus according to some example embodiments;

FIG. 11 is a flowchart illustrating a method of controlling a motionassistance apparatus according to some example embodiments;

FIG. 12 is a flowchart illustrating a method of controlling a motionassistance apparatus according to some example embodiments;

FIG. 13 is a flowchart illustrating a method of controlling a motionassistance apparatus, performed based on a type of an unfixed fixingmember, according to some example embodiments;

FIG. 14 is a flowchart illustrating a method of controlling a motionassistance apparatus, performed based on a walking situation of a user,according to some example embodiments;

FIG. 15 is a flowchart illustrating a method of controlling a motionassistance apparatus, performed based on a function of an unfixed fixingmember, according to some example embodiments;

FIG. 16 is a flowchart illustrating a method of controlling a motionassistance apparatus, performed based on a direction of a load appliedto an unfixed fixing member, according to some example embodiments;

FIG. 17 is a flowchart illustrating an operation of reducing power to betransmitted to an action side fixing member in a method of controlling amotion assistance apparatus according to some example embodiments; and

FIG. 18 illustrates a controller according to some example embodiments.

DETAILED DESCRIPTION

Reference will now be made in detail to example embodiments, someexamples of which are illustrated in the accompanying drawings, whereinlike reference numerals refer to like elements throughout. Exampleembodiments are described below with reference to the figures.

Detailed illustrative embodiments are disclosed herein. However,specific structural and functional details disclosed herein are merelyrepresentative for purposes of describing example embodiments. Exampleembodiments may be embodied in many alternate forms and should not beconstrued as limited to only those set forth herein.

It should be understood, however, that there is no intent to limit thisdisclosure to the particular example embodiments disclosed. On thecontrary, example embodiments are to cover all modifications,equivalents, and alternatives falling within the scope of the exampleembodiments. Like numbers refer to like elements throughout thedescription of the figures.

It will be understood that, although the terms first, second, etc, maybe used herein to describe various elements, these elements should notbe limited by these terms. These terms are only used to distinguish oneelement from another. For example, a first element could be termed asecond element, and, similarly, a second element could be termed a firstelement, without departing from the scope of this disclosure. As usedherein, the term “and/or,” includes any and all combinations of one ormore of the associated listed items.

It will be understood that when an element is referred to as being“connected,” or “coupled,” to another element, it can be directlyconnected or coupled to the other element or intervening elements may bepresent. In contrast, when an element is referred to as being “directlyconnected,” or “directly coupled,” to another element, there are nointervening elements present. Other words used to describe therelationship between elements should be interpreted in a like fashion(e.g., “between” versus “directly between,” “adjacent,” versus “directlyadjacent,” etc.).

The terminology used herein is for the purpose of describing particularembodiments only and is not intended to be limiting. As used herein, thesingular forms “a,” “an,” and “the,” are intended to include the pluralforms as well, unless the context clearly indicates otherwise. It willbe further understood that the terms “comprises,” “comprising,”“includes,” and/or “including,” when used herein, specify the presenceof stated features, integers, steps, operations, elements, and/orcomponents, but do not preclude the presence or addition of one or moreother features, integers, steps, operations, elements, components,and/or groups thereof.

It should also be noted that in some alternative implementations, thefunctions/acts noted may occur out of the order noted in the figures.For example, two figures shown in succession may in fact be executedsubstantially concurrently or may sometimes be executed in the reverseorder, depending upon the functionality/acts involved.

Various example embodiments will now be described more fully withreference to the accompanying drawings in which some example embodimentsare shown. In the drawings, various features may be exaggerated forclarity.

FIG. 1 is a front view illustrating a motion assistance apparatus 10being worn on a user 1 according to some example embodiments, and FIG. 2is a side view illustrating the motion assistance apparatus 10 beingworn on the user 1 according to some example embodiments.

Referring to FIGS. 1 and 2, the motion assistance apparatus 10 may beworn on the user 1 to assist a motion of the user 1. The user 1 maycorrespond to a human, an animal, or a robot. However, the user 1 is notlimited thereto. In addition, although FIGS. 1 and 2 illustrate a casein which the motion assistance apparatus 10 assists a motion of a thighof the user 1, the motion assistance apparatus 10 may also assist theuser with motion an upper body part, for example, a hand, an upper arm,and a lower arm of the user 1, or motion of another lower body part, forexample, a foot, and a calf of the user 1. The motion assistanceapparatus 10 may assist a motion of a part of the user 1. For example,in other example embodiments, the driving source 30 may be provided atthe knee joint of the user 1 and the second fixing member 60 may beconfigured to attach to the shin of the user 1 to transmit a drivingforce to the shin of the user 1. Hereinafter, a case in which the motionassistance apparatus 10 assists a motion of a thigh of a human will bedescribed, however, example embodiments are not limited thereto.

The motion assistance apparatus 10 includes a first fixing member 20, adriving source 30, a power transmitting member 50, a second fixingmember 60, a controller 70, and a sensing portion 100.

The first fixing member 20 may be fixed to a portion of the user 1. Thefirst fixing member 20 may be in contact with at least a portion of anouter surface of the user 1. The first fixing member 20 may beconfigured to cover the portion of the outer surface of the user 1. Thefirst fixing member 20 may be provided to be curved in a shapecorresponding to a contact portion of the user 1. The first fixingmember 20 may include a curved surface to be in contact with the user 1.For example, the first fixing member 20 may be fixed to one side of awaist of the user 1. The first fixing member 20 may be referred to as a“waist fixing member”. The first fixing member 20 may also be referredto as a “main fixing member”.

The driving source 30 may be provided to the first fixing member 20. Thedriving source 30 may provide power to be transmitted to the powertransmitting member 50. For example, a plurality of driving sources maybe provided. The driving sources 30 may be provided on both sides of thefirst fixing member 20, respectively. However, a number or positions ofthe driving sources 30 is not limited thereto.

The power transmitting member 50 may be connected between the drivingsource 30 and the second fixing member 60. The power transmitting member50 may transmit power received from the driving source 30 to the secondfixing member 60. The power transmitting member 50 may be, for example,a frame, a wire, a cable, a string, a rubber band, a spring, a belt, anda chain. However, the power transmitting member 50 is not limitedthereto.

The second fixing member 60 may be fixed to another portion of the user1. For example, the second fixing member 60 may be fixed to one side ofa leg of the user 1. The second fixing member 60 may be referred to as a“leg fixing member”. The second fixing member 60 may be disposed tocover a circumference of at least a portion of the thigh of the user 1to apply power received from the power transmitting member 50 to thethigh of the user 1.

A plurality of second fixing members 60 may be provided. The pluralityof second fixing members 60 may be fixed to both legs of the user 1,respectively. The plurality of second fixing members 60 may respectivelyrotate with respect to the first fixing member 20. The first fixingmember 20 may be referred to as the “main fixing member”, and the secondfixing member 60 may also be referred to as an “action side fixingmember”. In the action side fixing member, a fixing member to be fixedto one leg of the user 1 may be referred to as a “first action sidefixing member”, and a fixing member to be fixed to the other leg of theuser 1 may be referred to as a “second action side fixing member”.

The controller 70 may control the driving source 30 based on informationreceived from the sensing portion 100.

The sensing portion 100 may sense a fixing state of the first fixingmember 20 or the second fixing member 60. For example, the sensingportion 100 may be connected to at least one of the first fixing member20 and the second fixing member 60. Hereinafter, the sensing portion 100will be described in detail.

FIG. 3 is a view illustrating the sensing portion 100 according to someexample embodiments.

Referring to FIG. 3, the sensing portion 100 may be provided in at leastone of the first fixing member 20 and the second fixing member 60.Hereinafter, a case in which the sensing portion 100 is provided in thefirst fixing member 20 will be described. However, example embodimentsare not limited thereto.

The first fixing member 20 includes a first fixing portion 110 and asecond fixing portion 120 to be fastened to or separated from eachother. For example, the first fixing portion 110 and the second fixingportion 120 may be detachably provided in a structure of a buckle. Thesecond fixing portion 120 may include an insertion portion, and thefirst fixing portion 110 may include a hanging portion to be releasablyinserted into the insertion portion and locked in place by two resilientopposed lateral arms extending away from a center of the insertionportion. The arms may compress upon insertion, thereby providing aspring loading potential energy for their outward expansion. The armsmay move into locking slots on the body of the first insertion portion110 upon full insertion of the insertion portion and spring out into thelocked position within the slot.

The sensing portion 100 may include a first conductor 130 and a secondconductor 140. The first conductor 130 and the second conductor 140 maybe disposed in the first fixing portion 110 and the second fixingportion 120, respectively. The first conductor 130 and the secondconductor 140 may be connected to or shorted from each other based onwhether the first fixing portion 110 is fastened to the second fixingportion 120.

One side of the first conductor 130 may be connected to the controller70 with a first wire 132, and another side of the first conductor 130may be selectively connected to or shorted from the second conductor140. One side of the second conductor 140 may be connected to thecontroller 70 with a second wire 142, and another side of the secondconductor 140 may be selectively connected to or shorted from the firstconductor 130. The first wire 132 and the second wire 142 may beembedded in an internal portion of the first fixing member 20 and,therefore, damage to the first wire 132 and the second wire 142 by anexternal impact may be prevented.

The sensing portion 100 may further include an elastic member 150. Theelastic member 150 may be disposed on one of the first conductor 130 andthe second conductor 140. The elastic member 150 may provide elasticforce in a direction in which one of the first conductor 130 and thesecond conductor 140 is disposed with respect to another of the firstconductor 130 and the second conductor 140.

The controller 70 may control the driving source 30 based on informationabout a current flowing between the first conductor 130 and the secondconductor 140. For example, when a current flows between the firstconductor 130 and the second conductor 140, the controller 70 maydetermine that the first fixing member 20 is fixed. Thus, the controller70 may power on the driving source 30. Conversely, when a current doesnot flow between the first conductor 130 and the second conductor 140,the controller 70 may determine that the first fixing member 20 isunfixed. Thus, the controller 70 may power off the driving source 30.

Hereinafter, the same name may be used to describe an element includedin the example embodiments described above and an element having acommon function. Unless otherwise mentioned, the descriptions on theexample embodiments may be applicable to the following exampleembodiments and thus, duplicated descriptions will be omitted forconciseness.

FIG. 4 is a view illustrating a sensing portion 200 according to someexample embodiments.

Referring to FIG. 4, the sensing portion 200 may be provided in at leastone of the first fixing member 20 and the second fixing member 60.Hereinafter, a case in which the sensing portion 200 is provided in thefirst fixing member 20 will be described. The first fixing member 20includes a first fixing portion 210 and a second fixing portion 220 tobe fastened to or separated from each other. The first fixing portion210 and the second fixing portion 220 may have faces facing each otherand provided detachably. For example, the first fixing portion 210 andthe second fixing portion 220 may be detachably provided in a form of ahook and loop fastener.

The sensing portion 200 may include a first conductor 230 and a secondconductor 240. The first conductor 230 and the second conductor 240 maybe disposed in the first fixing portion 210 and the second fixingportion 220, respectively. The first conductor 230 and the secondconductor 240 may be disposed in an internal portion of the first fixingportion 210 and an internal portion of the second fixing portion 220,respectively, therefore, damage to the first conductor 230 and thesecond conductor 240 by an external impact may be prevented.

One side of the first conductor 230 may be connected to the controller70 with a first wire 232. One side of the second conductor 240 may beconnected to the controller 70 with a second wire 242. The first wire232 and the second wire 242 may be embedded in an internal portion ofthe first fixing member 20.

A capacitance C between the first conductor 230 and the second conductor240 may be expressed by Equation 1.

$\begin{matrix}{C = {\epsilon\;\frac{A}{d}}} & \left\lbrack {{Equation}\mspace{14mu} 1} \right\rbrack\end{matrix}$

In Equation 1, ∈ denotes a permittivity of a substance between the firstconductor 230 and the second conductor 240. A denotes an overlappingarea of the first conductor 230 and the second conductor 240 in avertical direction and d denotes a vertical distance between the firstconductor 230 and the second conductor 240.

The distance d may change based on a vertical distance between the firstfixing portion 210 and the second fixing portion 220. According toEquation 1, the capacitance C may increase as the distance between thefirst fixing portion 210 and the second fixing portion 220 decreases.For example, the distance d may be minimized when the first fixingportion 210 and the second fixing portion 220 are attached to eachother. Therefore, the capacitance C may be maximum when the first andsecond fixing portions 210, 220 are attached.

The area A may change based on a difference between a horizontalposition of the first fixing portion 210 and a horizontal position ofthe second fixing portion 220. According to Equation 1, the capacitanceC may increase as the overlapping area of the first fixing portion 210and the second fixing portion 220 increases. For example, thecapacitance C may be maximized when the first fixing portion 210 and thesecond fixing portion 220 completely overlap each other in a verticaldirection.

The capacitance C may function as an indicator of a fixing force of thefirst fixing portion 210 and the second fixing portion 220. Thus, thecontroller 70 may control the driving source 30 based on informationabout the capacitance C between the first conductor 230 and the secondconductor 240. When the measured capacitance C is greater than a desired(or, alternatively, a predetermined) reference capacitance C0, thecontroller 70 may determine that the first fixing member 20 is fixed.Thus, the controller 70 may power on the driving source 30. Conversely,when the measured capacitance C is less than the reference capacitanceC0, the controller 70 may determine that the first fixing member 20 isunfixed. Thus, the controller 70 may power off the driving source 30.

FIG. 5 is a view illustrating a sensing portion 300 according to someexample embodiments.

Referring to FIG. 5, the sensing portion 300 may be provided in at leastone of the first fixing member 20 and the second fixing member 60.Hereinafter, a case in which the sensing portion 300 is provided in thefirst fixing member 20 will be described. The first fixing member 20includes a first fixing portion 310 and a second fixing portion 320 tobe fastened to or separated from each other. For example, the firstfixing portion 310 and the second fixing portion 320 may be detachablyprovided in a structure of a buckle. The second fixing portion 320 mayinclude an insertion portion, and the first fixing portion 310 mayinclude a hanging portion to be inserted into the insertion portion.

The sensing portion 300 may further include a switch 330 to beselectively powered on or off based on whether the first fixing portion310 is fastened to the second fixing portion 320. The switch 330 may bedisposed in one of the first fixing portion 310 and the second fixingportion 320. For example, the switch 330 may be disposed in the secondfixing portion 320, and be pressurized by the first fixing portion 310.The switch 330 may include a button portion 332, a first conductor 334,a second conductor 336, a third conductor 338, and an elastic member339.

The button portion 332 may be provided to move slidingly with respect tothe second fixing portion 320. The first conductor 334 may be disposedon one side of the button portion 332. The first conductor 334 mayselectively connect the second conductor 336 to the third conductor 338or short the second conductor 336 from the third connector 338 based onwhether the first fixing portion 310 is fastened to the second fixingportion 320.

The second conductor 336 and the third conductor 338 may be connected tothe controller 70 with a first wire 341 and a second wire 342,respectively. The first wire 341 and the second wire 342 may be disposedin an internal portion of the first fixing member 20.

The elastic member 339 may provide elastic force in a direction in whichthe first conductor 334 is disposed apart from the second conductor 336and the third conductor 338.

The controller 70 may control the driving source 30 based on informationabout a current flowing between the second conductor 336 and the thirdconductor 338. For example, when a current flows between the secondconductor 336 and the third conductor 338, the controller 70 maydetermine that the first fixing member 20 is fixed. Thus, the controller70 may power on the driving source 30. Conversely, when a current doesnot flow between the second conductor 336 and the third conductor 338,the controller 70 may determine that the first fixing member 20 isunfixed. Thus, the controller 70 may power off the driving source 30.

FIG. 6 is a view illustrating a sensing portion 400 according to someexample embodiments.

Referring to FIG. 6, the sensing portion 400 may be provided in at leastone of the first fixing member 20 and the second fixing member 60.Hereinafter, a case in which the sensing portion 400 is provided in thefirst fixing member 20 will be described. The first fixing member 20 mayinclude a first fixing portion 410 and a second fixing portion 420 to befastened to or separated from each other.

The sensing portion 400 may measure a fastening strength of the firstfixing member 20. The sensing portion 400 may include pressure sensors430 to measure a pressure applied between the first fixing member 20 andthe user 1. The pressure sensors 430 may be provided on an inner sidesurface of the first fixing member 20.

The controller 70 may control the driving source 30 based on informationabout the pressure measured by the pressure sensors 430. For example,when the measured pressure is greater than or equal to a desired (or,alternatively, a predetermined) reference pressure, the controller 70may determine that the first fixing member 20 is fixed. Thus, thecontroller 70 may power on the driving source 30. Conversely, when themeasured pressure is less than the reference pressure, the controller 70may determine that the first fixing member 20 is unfixed. Thus, thecontroller 70 may power off the driving source 30.

FIG. 7 is a view illustrating a sensing portion 500 according to someexample embodiments.

Referring to FIG. 7, the sensing portion 500 may be provided in at leastone of the first fixing member 20 and the second fixing member 60.Hereinafter, a case in which the sensing portion 500 is provided in thefirst fixing member 20 will be described. The first fixing member 20 mayinclude a first fixing portion 510 and a second fixing portion 520 to befastened to or separated from each other.

The sensing portion 500 may measure a fastening strength of the firstfixing member 20. The sensing portion 500 may include a tensile forcesensor 530 to measure a tensile force applied to the first fixing member20. The tensile force sensor 530 may be provided in an internal portionof the first fixing member 20. For example, the tensile force sensor 530may include a strain gauge. In other example embodiments, the firstfixing member 20 may include an air bladder configured to hold an amountof gas therein to supply uniform pressure to the user 1, and the tensileforce sensor 530 may be configured to sense a fixing state of the firstfixing member 20 by sensing a deformation rate of the first fixingmember 20.

The controller 70 may control the driving source 30 based on informationabout the tensile force measured by the tensile force sensor 530. Forexample, when the measured tensile force is greater than or equal to adesired (or, alternatively, a predetermined) reference tensile force,the controller 70 may determine that the first fixing member 20 isfixed. Thus, the controller 70 may power on the driving source 30.Conversely, when the measured tensile force is less than the referencetensile force, the controller 70 may determine that the first fixingmember 20 is unfixed. Thus, the controller 70 may power off the drivingsource 30.

FIG. 8 is a view illustrating a sensing portion 80 according to someexample embodiments.

Referring to FIG. 8, the sensing portion 80 may be disposed in the powertransmitting member 50. The sensing portion 80 may include a tensileforce sensor 82 and/or a pressure sensor 84.

The tensile force sensor 82 may measure a tensile force applied to thepower transmitting member 50. The controller 70 may control the drivingsource 30 based on information on the tensile force measured by thetensile force sensor 82. The tensile force sensor 82 may operate in asimilar manner as the tensile force sensor 530, and, therefore, detaileddescriptions thereof will be omitted for conciseness.

The pressure sensor 84 may be disposed between the power transmittingmember 50 and the second fixing member 60. The pressure sensor 84 maymeasure a pressure applied between the power transmitting member 50 andthe second fixing member 60. The controller 70 may control the drivingsource 30 based on information about the pressure measured by thepressure sensor 84. The pressure sensor 84 may operate in a similarmanner as the pressure sensor 430, and, therefore, detailed descriptionsthereof will be omitted for conciseness.

FIG. 9 is a block diagram illustrating the motion assistance apparatus10 according to some example embodiments.

Referring to FIG. 9, the motion assistance apparatus 10 may include themain fixing member 20, the driving source 30, the power transmittingunit 50, the action side fixing member 60, the controller 70 and thesensing portion 100.

The action side fixing member 60 may include a first action side fixingmember and a second action side fixing member that support differentportions of the user 1.

The sensing portion 100 includes a main sensing portion to sense afixing state of the main fixing member 20, a first action side sensingportion to sense a fixing state of the first action side fixing member,and a second action side sensing portion to sense a fixing state of thesecond action side fixing member. In some example embodiments, the firstand second action side sensing portions may be connected to the firstand second active side fixing members, respectively.

The power transmitting member 50 may include a first power transmittingmember to transmit power to the first action side fixing member, and asecond power transmitting member to transmit power to the second actionside fixing member.

The driving source 30 may include a first driving source to drive thefirst power transmitting member, and a second driving source to drivethe second power transmitting member. The first power transmittingmember and the second power transmitting member may also be driven by asingle driving source.

The controller 70 may control the driving source 30 based on informationreceived from the main sensing portion, the first action side sensingportion, and the second action side sensing portion. The controller 70will be described in more detail with reference to FIG. 18.

FIG. 10 is a flowchart illustrating a method of controlling the motionassistance apparatus 10 according to some example embodiments.

Referring to FIG. 10, in operation 600, the controller 70 may power onthe motion assistance apparatus 10. In operation 610, the sensingportion 100 may sense a fixing state of the main fixing member 20 or theaction side fixing member 60. In operation 620, the controller 70 mayperform a motion assistance operation by controlling the driving source30.

In detail, in operation 600, the controller 70 may power on the motionassistance apparatus 10 in response to a request by a user.

When the motion assistance apparatus 10 is powered on, in operation 610,the sensing portion 100 may sense a fixing state of the main fixingmember 20 and/or the action side fixing member 60. When the sensingportion 100 includes a pressure sensor, the sensing portion 100 maymeasure a pressure applied between a user and the main fixing member 20and/or the action side fixing member 60, and sense the fixing state ofthe main fixing member 20 and/or the action side fixing member 60 basedon the measured pressure. For example, the sensing portion 100 mayinclude one or more of the sensing portions 100 to 500 described above.

When the sensing portion 100 senses that the main fixing member 20and/or the action side fixing member 60 is unfixed in operation 610, thecontroller 70 may instruct the sensing portion 100 to iterativelyperform operation 610 to determine when the main fixing member 20 and/orthe action side fixing member 60 is fixed. When the main fixing member20 or the action side fixing member 60 is fixed in operation 610, inoperation 610, the controller 70 may control the driving source 30 toperform a motion assistance operation. The motion assistance operationmay assist the user 1 in smoothly walking. For example, the motionassistance operation may vary an amount of assistance provided to theuser 1 as the user 1 moves through various phases of a walking cycle.For example, the controller 70 may instruct the walking assistance robotto increase the torque if the main fixing member 20 or the action sidefixing member 60 is exerting positive work on the leg of the user 1, forexample, when the user 1 is increasing a pace of walking on a flatsurface, a sloped surface or a stepped surface. Likewise, the controller70 may instruct the walking assistance robot to increase a dampingtorque applied to a leg of the user 1, if the main fixing member 20 orthe action side fixing member 60 is exerting negative work on the leg ofthe user 1, for example, when the user 1 is decreasing a pace of walkingon the flat surface, the sloped surface or the stepped surface.

In the foregoing control method, the motion assistance apparatus 10 mayoperate while the main fixing member 20 or the action side fixing member60 is fixed and thus, a user safety may increase. In addition, withoutreceiving a separate motion assistance instruction, the controller mayimmediate perform the motion assistance operation when the main fixingmember 20 or the action side fixing member 60 is sensed as being fixedwhile the motion assistance apparatus 10 is powered on and thus, ausability may increase.

FIG. 11 is a flowchart illustrating a method of controlling the motionassistance apparatus 10 according to some example embodiments.Duplicated descriptions similar to the descriptions provided withreference to FIG. 10 will be omitted for conciseness.

Referring to FIG. 11, the method of controlling the motion assistanceapparatus 10 illustrated in FIG. 11 further includes an operation 605 ofreceiving a motion assistance instruction, as compared to the method ofFIG. 10.

In detail, in operation 600, the controller 70 may power on the motionassistance apparatus 10 in response to an instruction from a user.

When the motion assistance apparatus 10 is powered on, in operation 605,the controller 70 may receive a motion assistance instruction.

The controller 70 may iteratively perform operation 605 until the motionassistance instruction is input into the controller 70. When the motionassistance instruction is input in operation 605, in operation 610, thesensing portion 100 may sense, a fixing state of the main fixing member20 and/or the action side fixing member 60.

When the main fixing member 20 and/or the action side fixing member 60is unfixed in operation 610, the controller 70 may instruct the sensingportion 100 to iteratively perform operation 610 to determine when themain fixing member 20 and/or the action side fixing member 60 is fixed.When the main fixing member 20 or the action side fixing member 60 isfixed in operation 610, the controller 70 may control the driving source30 to perform a motion assistance operation, in operation 620.

In the foregoing controlling method, operation 620 may be performedafter two verifications are performed. The motion assistance apparatus10 may operate in response to an input of a motion assistanceinstruction and thus, a user manipulability may increase. In addition,when operation 605 is performed prior to operation 610, an unnecessarysensing operation of the sensing portion 100 may be prevented until themotion assistance instruction is input.

While FIG. 11 illustrates that the controller 70 performs operation 605before operation 610, the controller 70 may perform operation 605 afteroperation 610 is performed.

FIG. 12 is a flowchart illustrating a method of controlling the motionassistance apparatus 10 according to some example embodiments.Duplicated descriptions similar to the descriptions provided withreference to FIGS. 10 and 11 will be omitted for conciseness.

Referring to FIG. 12, the method of controlling the motion assistanceapparatus 10 further includes operation 610 of primarily sensing afixing state of the main fixing member 20 or the action side fixingmember 60, operation 612 of secondarily sensing a fixing state of themain fixing member 20 or the action side fixing member 60, and operation614 of receiving a motion assistance instruction to be performed afteroperation 612 is performed.

In detail, in operation 610, the sensing portion 100 may primarily sensea fixing state of the main fixing member 20 and/or the action sidefixing member 60.

When the main fixing member 20 or the action side fixing member 60 issensed as being fixed in operation 610, the controller 70 may perform amotion assistance operation in operation 620. In contrast, when thesensing portion 100 senses that the main fixing member 20 or the actionside fixing member 60 is unfixed in operation 610, the controller 70 mayperform operation 612.

When the main fixing member 20 or the action side fixing member 60 issensed as still being unfixed in operation 612, operation 612 may beiteratively performed. When the main fixing member 20 or the action sidefixing member 60 is sensed as being fixed in operation 612, thecontroller 70 may perform operation 614.

When the motion assistance instruction is not input in operation 614,the controller 70 may iteratively perform operation 614. When the motionassistance instruction is input in operation 614, the controller 70 mayperform a motion assistance operation in operation 620.

Operation 605 of receiving a motion assistance instruction may beperformed prior to operation 610. In some example embodiments, operation605 may be an operation of primarily receiving a motion assistanceinstruction, and operation 614 may be an operation of secondarilyreceiving a motion assistance instruction.

In the foregoing control method, the controller 70 may perform a motionassistance operation immediately when the main fixing member 20 or theaction side fixing member 60 is sensed as being fixed in operation 610and thus, usability may increase. In addition, if the controller 70senses that the main fixing member 20 and/or the action side fixingmember 60 is unfixed in operation 610, by preventing an automaticoperation of the motion assistance apparatus 10 until a motionassistance instruction is input, the controller 70 may secure asufficient time to fix the main fixing member 20 or the action sidefixing member 60, and, therefore, a user safety may increase.

FIG. 13 is a flowchart illustrating a method of controlling the motionassistance apparatus 10, performed based on a type of an unfixed fixingmember, according to some example embodiments.

Referring to FIG. 13, FIG. 13 illustrates performing motion assistanceas illustrated in operation 620 of FIGS. 10-12 according to some exampleembodiments, in which the motion assistance is based on a type of anunfixed fixing member.

The motion assistance of operation 620 may include operation 630 ofsensing whether the main fixing member 20 is fixed, operation 632 ofsensing whether the action side fixing member 60 is fixed, operation 633of reducing power to be transmitted to the unfixed action side fixingmember 60, and operation 631 of reducing power to be transmitted to allaction side fixing members 60.

In detail, in operation 630, the main sensing portion of the sensingportion 100 may sense whether the main fixing member 20 is fixed.

When the main fixing member 20 is sensed as being unfixed in operation630, the controller 70 may control the driving source 30 to reduce powerto be transmitted to all action side fixing members 60, in operation631. When the main fixing member 20 is sensed as being fixed inoperation 630, the action side sensing portion of the sensing portion100 may sense whether the action side fixing member 60 is fixed, inoperation 632.

When all action side fixing members 60 are sensed as being fixed inoperation 632, the controller 70 may iteratively instruct the mainsensing portion of the sensing portion 100 to iteratively performoperation 630 and monitor whether the main fixing member 20 remainsfixed.

When a portion of action side fixing members 60 are sensed as beingunfixed in operation 632, the controller 70 may control the drivingsource 30 to reduce power to be transmitted to the unfixed action sidefixing member 60, in operation 633. When all action side fixing members60 are sensed as being unfixed in operation 632, the controller 70 maycontrol the driving source 30 to reduce power to be transmitted to allthe action side fixing members 60, in operation 631.

In the foregoing controlling method, the controller 70 may suspend amotion assistance operation when the main fixing member 20 is unfixedand thus, a user safety may increase. Further, when a portion of theaction side fixing members 60 is unfixed while the main fixing member 20is fixed, by reducing only power to be transmitted to the unfixed actionside fixing member 60, a remaining fixed action side fixing member 40may continuously perform the motion assistance operation. Therefore,even if a part of the motion assistance apparatus 10 malfunctions, themotion assistance apparatus 10 may continuously operate within asafety-secured range. Thus, a usage efficiency of the motion assistanceapparatus 10 may increase.

FIG. 14 is a flowchart illustrating a method of controlling the motionassistance apparatus 10, performed based on a walking situation of auser, according to some example embodiments.

Referring to FIG. 14, FIG. 14 illustrates performing motion assistanceas illustrated in operation 620 of FIGS. 10-12 according to some exampleembodiments in which the motion assistance is based on a walkingsituation of a user.

The motion assistance of operation 620 may include operation 640 ofsensing a fixing state of the main fixing member 20 or the action sidefixing member 60, operation 641 of sensing a walking situation of auser, operation 642 of sensing whether both feet of the user are incontact with the ground, and operation 643 of reducing power to betransmitted to the action side fixing member 60. For example, in someexample embodiments, in an effort to avoid injury to the user 1, eventhough the fixing member 60 is unfastened, the motion assistanceapparatus 10 may continue to perform the aforementioned motionassistance operation when the user 1 is walking downhill and has notstopped and placed both feet on the ground. Therefore, although thefixing member 60 is unfastened while the user is walking downhill, thepower transmitting member 50 may prevent a sudden forward jerk of theleg of the user 1.

In detail, in operation 640, the sensing portion 100 may sense whetherthe main fixing member 20 and/or the action side fixing member is fixed.

When the main fixing member 20 or the action side fixing member issensed as being unfixed in operation 640, the controller 70 may sense awalking situation of the user, in operation 641.

The walking situation of the user may include a situation in which theuser is walking on a slope or stairs in an upward inclined direction,hereinafter referred to as “walking upward”, and a situation in whichthe user is walking on a slop or stairs in a downward inclineddirection, hereinafter referred to as a “walking downward”. The walkingsituation may be sensed using an altimeter, an accelerometer, or amotion pattern obtained based on, for example, an angle of rotation ofthe power transmitting member 50.

When the controller 70 senses that the user is walking upward inoperation 641, the controller 70 may reduce the power transmitted to theaction side fixing member 60, in operation 643.

When the controller 70 senses that user is walking downward in operation641, the controller 70 may determine whether both feet of the user arein contact with the ground, in operation 642. Whether a foot of the useris in contact with the ground may be sensed using a pressure sensor, aninertial measurement unit, or an acceleration sensor disposed on thefoot of the user. When a pressure measured by the pressure sensorincreases beyond a threshold, the controller 70 may sense that the footof the user is in contact with the ground. In addition, an oscillationoccurring when the foot touches the ground may be sensed using aninertial measurement unit or an acceleration sensor.

When both feet of the user are sensed as being not in contact with theground in operation 642, the controller 70 may iteratively performoperation 642 until both feet of the user contact the ground. When bothfeet of the user are sensed as being in contact with the ground inoperation 642, the controller 70 may reduce the power transmitted to theaction side fixing member 60, in operation 643.

While FIG. 14 illustrates operation 642 being performed after operation641, in some example embodiments, operation 642 may also be performedprior to operation 641 such that, when both feet of the user are incontact with the ground, the controller 70 may reduce the transmittedpower in operation 643 immediately without first sensing the walkingsituation of the user.

In the foregoing control method, in a case of walking downward, which ismore dangerous than walking upward, the controller 70 may reduce theassistance power when both feet are in contact with the ground. Thus, anaccident happening to the user due to a sudden change in power may beprevented.

FIG. 15 is a flowchart illustrating a method of controlling the motionassistance apparatus 10, performed based on a function of an unfixedfixing member, according to some example embodiments.

Referring to FIG. 15, FIG. 15 illustrates performing motion assistanceas illustrated in operation 620 of FIGS. 10-12 according to some exampleembodiments in which the motion assistance is based on a function of anunfixed fixing member.

In some example embodiments, the motion assistance of operation 620 mayinclude operation 650 of sensing a fixing state of the main fixingmember 20 or the action side fixing member 60, operation 651 of sensinga function of the unfixed action side fixing member 60, operation 652 ofsensing whether the function of the unfixed action side fixing member 60is changed to a moving function, operation 654 of sensing whether bothfeet of the user are in contact with the ground, and operation 653 ofreducing power to be transmitted to the action side fixing member 60.

In detail, in operation 650, the sensing portion 100 may sense a fixingstate of the main fixing member 20 and/or the action side fixing member60.

The controller 70 may instruct the sensing portion 100 to iterativelyperform operation 650 until one or more of the main fixing member 20 andthe action side fixing member 60 is sensed as being unfixed.

When the main fixing member 20 or the action side fixing member 60 issensed as being unfixed in operation 650, the controller 70 may sense afunction of the unfixed action side fixing member 60, in operation 651.

The function of the action side fixing member 60 may include a movingfunction and a supporting function. The moving function may refer to afunction of the action side fixing member 60 corresponding to a legspaced apart from the ground. The supporting function may refer to afunction of the action side fixing member 60 corresponding to a legbeing in contact with the ground. The function of the action side fixingmember 60 may be sensed using a pressure sensor, an inertial measurementunit, or an acceleration sensor disposed on a foot of the user.

When the function of the unfixed action side fixing member 60corresponds to the moving function in operation 651, the controller 70may reduce power transmitted to the unfixed action side fixing member60, in operation 653. When the function of the unfixed action sidefixing member 60 corresponds to the supporting function in operation651, the controller 70 may sense whether the function of the unfixedaction side fixing member 60 is changed to the moving function, inoperation 652. When the function of the unfixed action side fixingmember 60 is changed to the moving function in operation 652, thecontroller 70 may reduce the power transmitted to the unfixed actionside fixing member 60, in operation 653.

When the function of the unfixed action side fixing member 60 is notchanged to the moving function in operation 652, the controller 70 maydetermine whether both feet of the user are in contact with the ground,in operation 654. When both feet of the user are in contact with theground in operation 654, the controller 70 may reduce the powertransmitted to the unfixed action side fixing member 60, in operation653. When both feet of the user are sensed as being not in contact withthe ground in operation 654, operation 652 may be performed.

While FIG. 15 illustrates that operation 654 is performed afteroperation 651, in some example embodiments, operation 654 may also beperformed prior to operation 651 such that, when both feet of the userare in contact with the ground, the controller 70 may reduce the powerin operation 653 immediately without sensing the function of the unfixedaction side fixing member 60.

FIG. 16 is a flowchart illustrating a method of controlling the motionassistance apparatus 10, performed based on a direction of a loadapplied to an unfixed fixing member, according to some exampleembodiments.

Referring to FIG. 16, FIG. 16 illustrates performing motion assistanceas illustrated in operation 620 of FIGS. 10-12 according to some exampleembodiments in which the motion assistance is based on a direction of aload applied to an unfixed fixing member.

In some example embodiments, the motion assistance of operation 620 mayinclude operation 660 of sensing a fixing state of the action sidefixing member 60, operation 661 of sensing a direction of a load appliedto the unfixed action side fixing member 60, and operation 622 ofreducing power to be transmitted to the action side fixing member 60.

In detail, in operation 660, the sensing portion 100 may sense a fixingstate of the action side fixing member 60.

When the action side fixing member 60 is sensed as being unfixed inoperation 660, the controller 70 may detect a direction of a loadapplied to the unfixed action side fixing member 60, in operation 661.In some example embodiments, the controller 70 may detect that thedirection of the load applied by the motion assistance apparatus 10 is apushing direction, if the fixing member 50 is pushing the user's thighsbackward. Likewise, in some example embodiments, the controller 70 maydetect that the direction of the load applied by the motion assistanceapparatus 10 is in a pulling direction, if the fixing member 50 ispulling the user's thighs forward. As discussed in more detail below,the controller 70 may detect that the direction of the load by detectingif the user's thigh is exerting pressure and/or force against a sensor.

The direction of the load applied to the unfixed action side fixingmember 60 may be sensed using a pressure sensor disposed between thepower transmitting member 50 and the action side fixing member 60, or atensile force sensor provided on the power transmitting member 50.

When a value is sensed by the pressure sensor or the tensile forcesensor, the controller 70 may verify that the load is applied to theunfixed action side fixing member 60 in a pushing direction. Conversely,when no value is sensed by the pressure sensor or the tensile forcesensor, the controller 70 may verify that the load is applied to theunfixed action side fixing member 60 in a pulling direction.

When the direction of the load applied to the unfixed action side fixingmember 60 corresponds to the pushing direction in operation 661, thecontroller 70 may iteratively perform operation 661 until the load isapplied in the pulling direction.

When the direction of the load applied to the unfixed action side fixingmember 60 corresponds to the pulling direction in operation 661, thecontroller 70 may reduce the power transmitted to the unfixed actionside fixing member 60, in operation 662.

In the foregoing controlling method, by reducing the power transmittedto an action side fixing member 60 substantially incapable of providinga motion assistance force, the controller 70 may reduce the powerconsumption and increase a user safety. In addition, by continuouslytransmitting power to an action side fixing member 60 capable ofproviding a motion assistance force even in an unfixed state, a usageefficiency of the motion assistance apparatus 10 may increase.

FIG. 17 is a flowchart illustrating an operation of reducing power to betransmitted to the action side fixing member 60 in a method ofcontrolling the motion assistance apparatus 10 according to some exampleembodiments. Referring to FIG. 17, FIG. 17 illustrates reducing powertransmitted to the action side fixing member 60 as illustrated inoperations 631, 633, 643, 653, or 662 of FIGS. 13-16 according to someexample embodiments. Hereinafter, reducing power as illustrated inoperation 631 will be described. However, the following descriptions mayalso apply to operations 633, 643, 653, or 662.

In some example embodiments, the power reduction of operation 631 mayinclude operation 700 of reducing an output of the driving source 30,and operation 710 of comparing the output of the driving source 30 to apredetermined output.

In detail, in operation 700, the controller 70 may reduce an output ofthe driving source 30. In operation 710, the controller 70 may determinewhether the reduced output of the driving source 30 is less than orequal to the desired (or, alternatively, the predetermined) output.

When the output of the driving source 30 excesses the desired (or,alternatively, the predetermined) output in operation 710, thecontroller 70 may iteratively perform operation 700 until the output ofthe driving source 30 is less than or equal to the desired output. Whenthe output of the driving source 30 is less than or equal to the desired(or, alternatively, the predetermined) output in operation 710, thecontroller 70 may instruct the driving source 30 to continuouslytransmit power at the corresponding output.

In the foregoing control method, power may be continuously transmittedwithin a range safe although the main fixing member 20 or the actionside fixing member 60 is unfixed. Thus, a usage efficiency of the motionassistance apparatus 10 may increase.

Operations 700 and 710 are provided as only an example of operation 631,633, 643, 653, or 662. Example embodiments are not limited thereto. Insome example embodiments, power to be transmitted to the action sidefixing member 60 may be reduced by powering of the motion assistanceapparatus 10, by blocking power supplied to the driving source 30, or byholding an operation to maintain a desired (or alternatively, apredetermined) state of the driving source 30.

FIG. 18 illustrates a controller according to some example embodiments.

Referring to FIG. 18, the controller 70 may include memory 1810 and aprocessor 1820 that may send data to and/or receive data from oneanother using a data bus 1830.

The memory 1810 may be any device capable of storing data. For example,the memory may be a non-volatile memory, a volatile memory, a hard disk,an optical disk, and a combination of two or more of the above-mentioneddevices. The memory may be a non-transitory computer readable medium.The non-transitory computer-readable media may also be a distributednetwork, so that the program instructions are stored and executed in adistributed fashion. The non-volatile memory may be a Read Only Memory(ROM), a Programmable Read Only Memory (PROM), an Erasable ProgrammableRead Only Memory (EPROM), or a flash memory. The volatile memory may bea Random Access Memory (RAM).

The processor 1820 may be any device capable of processing dataincluding, for example, a microprocessor configured to carry outspecific operations by performing arithmetical, logical, andinput/output operations based on input data, or capable of executinginstructions included in computer readable code. The processor 1820 maybe a logic chip, for example, a central processing unit (CPU), acontroller, or an application-specific integrated circuit (ASIC), thatwhen, executing the instructions stored in the memory 1810, configuresthe processor 1820 as a special purpose machine such that the processor1820 is configured to determine if one or more of a waist fixing member20, and leg fixing members 60 are secured to the body of a user 1 usinginformation received from sensor portions 80 and 100 to 500. Theprocessor 1820 may perform motion control 620 when the fixing members 20and 60 are secured to the body of the user 1 and, thereafter, if one ormore of the fixing members 20 and 60 are unfixed, the controller 70 mayreduce the power transmitted to the unfixed fixing member 20 and 60based on various factors.

The processor 1820 may reduce the power transmitted to the unfixedfixing member 20 and 60, for example, when the user 1 is walking on agradient with both feet on the ground, when the user 1 is one of movingwith an unfixed fixing member 20 and 60 and standing still with bothfeet on the ground, or when a pulling force is applied to the fixingmember 60. Therefore, in some example embodiments, the motion assistanceapparatus 10 may prevent sudden frontward bounce of the leg of the user1 by continuing to provide motion assistance to the user while the useris walking downhill and the front of the fixing member 60 is unfixed.Further, in other example embodiments, the motion assistance apparatus10 may reduce unnecessary power usage by reducing the force applied tothe user 1 when the fixing member 60 is unfixed. Further still, in otherexample embodiments, the motion assistance apparatus 10 may continue toprovide motion assistance to the user 1 when the fixing member 60 isunfixed, if the direction of the assistance is a pushing direction so asto extend the amount of time motion assistance is provided to the user.

A number of example embodiments have been described above. Nevertheless,it should be understood that various modifications may be made. Forexample, suitable results may be achieved if the described techniquesare performed in a different order and/or if components in a describedsystem, architecture, device, or circuit are combined in a differentmanner and/or replaced or supplemented by other components or theirequivalents. Accordingly, other implementations are within the scope ofthe following claims.

What is claimed is:
 1. A method of controlling a motion assistanceapparatus, the motion assistance apparatus including a main fixingmember including a first end and a second end, the first end of the mainfixing member configured to selectively connect to the second end of themain fixing member to switch the main fixing member from a first unfixedstate to a first fixed state in which the main fixing member encircles afirst portion of a user, an action side fixing member configured toselectively switch between a second fixed state and a second unfixedstate, the second fixed state being a state in which the action sidefixing member encircles a limb of the user, a driving source attached tothe main fixing member, a power transmitting device configured totransmit power from the driving source to the action side fixing member,and a controller configured to control transmission of the power by thedriving source, the method comprising: sensing, via one or more sensors,whether (i) the main fixing member is set to the first fixed state toencircle the first portion of the user, and/or (ii) the action sidefixing member is set to the second fixed state to encircle the limb ofthe user; and selectively performing, by the controller, a motionassistance operation for the user based on whether data from the one ormore sensors indicate that (i) the main fixing member is set to thefirst fixed state to encircle the first portion of the user, and/or (ii)the action side fixing member is set to the second fixed state toencircle the limb of the user.
 2. The method of claim 1, wherein thecontroller performs the motion assistance operation when the main fixingmember is set to the first fixed state and the action side fixing memberis set to the second fixed state.
 3. The method of claim 2, furthercomprising: receiving a motion assistance instruction from the user,wherein the controller performs the motion assistance operation when themotion assistance instruction is received from the user.
 4. The methodof claim 1, wherein the performing comprises: reducing the powertransmitted to the action side fixing member when the action side fixingmember is unfixed such that the power is transmitted from the drivingsource to the action side fixing member at a reduced level, the reducedlevel being greater than zero.
 5. The method of claim 1, wherein theaction side fixing member includes a plurality of action side fixingmembers, and the performing comprises: sensing which of the plurality ofaction side fixing members are in the second unfixed state; and reducingthe power transmitted to respective ones the plurality of action sidefixing members when the respective ones of the plurality of action sidefixing members are in the second unfixed state.
 6. The method of claim1, wherein the performing comprises: controlling the power transmittedto the action side fixing member based on a direction of a load appliedto the action side fixing member, the controlling including,continuously performing the motion assistance operation for the userwhen the direction of the load is a direction in which the action sidefixing member is pushed against the limb of the user by the powerirrespective of whether the action side fixing member is in the secondfixed state or the second unfixed state; continuously performing themotion assistance operation for the user when the direction of the loadis a direction in which the action side fixing member is pulled awayfrom the limb of the user by the power and the action side fixing memberis in the second fixed state; and reducing the power transmitted to theaction side fixing member when the direction of the load is thedirection in which the action side fixing member is pulled away from thelimb of the user by the power and the action side fixing member is inthe second unfixed state.
 7. The method of claim 1, wherein theperforming comprises: one of stopping the driving source and reducing anoutput of the driving source to a desired output value.
 8. The method ofclaim 1, wherein the performing comprises: reducing the powertransmitted to the action side fixing member in response to the mainfixing member being unfixed.